mlsanityData to 14 Oct 2026

Learning to Jump from Pixels

arXiv 2110.15344 ↗First posted 28 Oct 2021cs.RO cs.AIcited by 45

Not on the map. Why?

Abstract (arXiv)

Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous terrains, such as those with gaps or obstacles, presents a complementary set of challenges. In discontinuous settings, it becomes necessary to plan ahead using visual inputs and to execute agile behaviors beyond robust walking, such as jumps. Such dynamic motion results in significant motion of onboard sensors, which introduces a new set of challenges for real-time visual processing. The requirement for agility and terrain awareness in this setting reinforces the need for robust control. We present Depth-based Impulse Control (DIC), a method for synthesizing highly agile visually-guided locomotion behaviors. DIC affords the flexibility of model-free learning but regularizes behavior through explicit model-based optimization of ground reaction forces. We evaluate the proposed method both in simulation and in the real world.

Key facts. Cited by 45 papers in the map (data through 14 Oct 2026). Builds on 25 of its 40 references that are in the map. First posted on arXiv 28 Oct 2021.

Builds on

25 of 40 references.

References · 25

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2017Proximal Policy Optimization Algorithmscited by 15,215
  3. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  4. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  5. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  6. 2019Learning by Cheatingcited by 383
  7. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
  8. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 92
  9. 2021Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robotscited by 76
  10. 2016Learning and Transfer of Modulated Locomotor Controllerscited by 59
  11. 2020RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Controlcited by 59
  12. 2019Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Controlcited by 54
13 more
  1. 2020ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skillscited by 54
  2. 2021Fast and Efficient Locomotion via Learned Gait Transitionscited by 54
  3. 2019DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learningcited by 50
  4. 2019Policies Modulating Trajectory Generatorscited by 49
  5. 2016Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?cited by 48
  6. 2020Robust Quadruped Jumping via Deep Reinforcement Learningcited by 27
  7. 2020Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Controlcited by 25
  8. 2021GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Modelcited by 25
  9. 2020Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotioncited by 24
  10. 2020From Pixels to Legs: Hierarchical Learning of Quadruped Locomotioncited by 20
  11. 2018Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNscited by 11
  12. 2020Learning Agile Locomotion Skills with a Mentorcited by 8
  13. 2018Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraintscited by 3

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 12; 2023: 13; 2024: 12; 2025: 5; 2026: 3.

45 papers.

Sort:

By area:

  1. 2022Temporal Difference Learning for Model Predictive Controlcited by 397
  2. 2022Rapid Locomotion via Reinforcement Learningcited by 168
  3. 2023Extreme Parkour with Legged Robotscited by 164
  4. 2022Legged Locomotion in Challenging Terrains using Egocentric Visioncited by 151
  5. 2023Robot Parkour Learningcited by 149
  6. 2024Expressive Whole-Body Control for Humanoid Robotscited by 139
  7. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 138
  8. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 121
  9. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 101
  10. 2025AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Controlcited by 51
  11. 2025BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholdscited by 46
  12. 2023Neural Volumetric Memory for Visual Locomotion Controlcited by 44
33 more
  1. 2023Barkour: Benchmarking Animal-level Agility with Quadruped Robotscited by 41
  2. 2023Robust and Versatile Bipedal Jumping Control through Reinforcement Learningcited by 36
  3. 2022CPG-RL: Learning Central Pattern Generators for Quadruped Locomotioncited by 34
  4. 2023Learning and Adapting Agile Locomotion Skills by Transferring Experiencecited by 33
  5. 2022Learning Torque Control for Quadrupedal Locomotioncited by 29
  6. 2022Learning Visual Locomotion with Cross-Modal Supervisioncited by 25
  7. 2023A Survey on Physics Informed Reinforcement Learning: Review and Open Problemscited by 24
  8. 2023Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotioncited by 24
  9. 2022ViNL: Visual Navigation and Locomotion Over Obstaclescited by 23
  10. 2024Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Designcited by 18
  11. 2023TGRL: An Algorithm for Teacher Guided Reinforcement Learningcited by 17
  12. 2022Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotioncited by 14
  13. 2024SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experiencecited by 14
  14. 2024Solving Minimum-Cost Reach Avoid using Reinforcement Learningcited by 14
  15. 2022PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representationscited by 10
  16. 2023Learning to See Physical Properties with Active Sensing Motor Policiescited by 10
  17. 2024Vegetable Peeling: A Case Study in Constrained Dexterous Manipulationcited by 9
  18. 2023Learning Robust, Agile, Natural Legged Locomotion Skills in the Wildcited by 8
  19. 2024PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robotscited by 8
  20. 2024When Should We Prefer State-to-Visual DAgger Over Visual Reinforcement Learning?cited by 7
  21. 2025Ego-Vision World Model for Humanoid Contact Planningcited by 6
  22. 2023Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drivecited by 5
  23. 2025No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terraincited by 3
  24. 2023DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skillscited by 2
  25. 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectivescited by 2
  26. 2024Reinforcement Learning from Wild Animal Videoscited by 2
  27. 2026Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupedscited by 2
  28. 2024Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robotcited by 1
  29. 2024QuadWBG: Generalizable Quadrupedal Whole-Body Graspingcited by 1
  30. 2025Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learningcited by 1
  31. 2024Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrainscited by 0
  32. 2026CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotioncited by 0
  33. 2026Co-design Gym: A Unified Benchmark for Embodiment-Policy Co-optimizationcited by 0